WO2019045103A1 - Charging system for autonomous underwater vehicle (auv) and method for lifting and recovering auv - Google Patents

Abstract

A charging system according to one embodiment of the present invention comprises: a charging station having a base positioned in water, a pole extending in the vertical direction, and a charging unit; and an AUV having an underwater vehicle body, a power reception unit, a holding device having a pair of guide parts that guide a contacted pole from the advancing-direction side into a holding position and a holding part that holds the pole guided into the holding position such that the pole is capable of relative rotation, a propulsion generation device that generates propulsion force in the horizontal direction, and a control device that controls the propulsion generation device; the base and the underwater vehicle body being provided, respectively, with a light emitter and a light receiver, and the control device controlling the propulsion generation device so that the light receiver reaches a rotation position, in relation to the pole, at which light emitted from the light emitter is received.

Description

Charging system for autonomous unmanned underwater vehicle and method of recovering autonomous unmanned underwater vehicle

The present invention relates to a charging system for an autonomous unmanned underwater vehicle and a method of recovering the autonomous unmanned underwater vehicle.

An autonomous underwater vehicle (AUV: hereinafter referred to as AUV) travels underwater with an internal power source, without the need for a power supply from the mother ship for undersea work, sea bottom survey, etc. . BACKGROUND ART Conventionally, development of a charging system that enables charging of AUVs in water without being collected on a mother ship has been advanced. In such a charging system, the AUV approaches the charging station prepared in the water to couple to each other for charging. It is desirable for the charging system to be such that the AUV can approach and be coupled to the charging station from any direction 360 degrees so that the AUV can approach the charging station in a stable attitude even under the influence of a power flow or the like.

In recent years, a charging system has been proposed, as shown in Patent Document 1, in which the AUV can approach and couple to the charging station from any direction from 360 degrees. The charging system comprises a charging station suspended in the water by a string from an offshore vessel and an AUV coupled in water to the charging station so as to be rotatable about the string. The charging station has a non-contact power feeding portion, and when the offshore ship tows the charging station, the charging station is in a posture in which the non-contact power feeding portion is located downstream of the string in the water flow direction. . On the other hand, the AUV has a non-contact power reception unit, and when it is towed in a state of being coupled to the charging station, it receives a flow of water and rotates around the cord-like body, and the non-contact power reception unit It becomes a posture located in the lower stream side of a string-like body in the flow direction of water. In this way, the direction of the charging station and the direction of the AUV are matched, and the non-contact power reception unit of the AUV and the non-contact power supply unit of the charging station are aligned at a position where power can be supplied.

JP, 2017-71265, A

However, in the above-mentioned charging system, it is necessary to receive the flow of water in a state where the charging station and the AUV are coupled to each other in order to align the non-contact power reception portion of the AUV and the non-contact power feeding portion of the charging station There is. That is, in order to align the charging station and the AUV where there is no flow of water, such as a tidal current, the charging station and the AUV must be towed by an offshore ship with the charging station and the AUV coupled to one another. For this reason, a charging system is desired that more easily aligns the charging station with the AUV power supply.

Thus, the present invention enables an AUV approach to the charging station from any direction 360 degrees, and allows for easy alignment of the AUV with the charging station for charging the AUV, charging for the AUV The purpose is to provide a system and a recovery method of AUV.

In order to solve the above problems, the charging system for AUV according to the present invention comprises a base located in water, a pole provided on the base and extending in the vertical direction, and horizontal from the pole on the base A charging station having a feeding part provided at a position separated in a direction, a submersible main body, a power receiving part provided on the submersible main body and supplied with power from the feeding part, and the submersible main body The distance between the poles increases toward the advancing direction side, and a pair of guide portions for guiding the pole in contact from the advancing direction side to the holding position and the pole guided to the holding position can be relatively rotated. And a holding device having a holding portion, and the submersible main body, in which the holding device holds the pole, generates thrust at least in the horizontal direction to rotate the pole about the pole. And a controller for controlling the thrust generator, wherein one of the light emitter and the light receiver is at a position horizontally separated from the pole on the base. The other of the light emitter and the light receiver is provided at a position horizontally separated from the holding position in the submersible main body, and the control device is configured to hold the pole in the holding device. The thrust generator is controlled such that the held submersible body is at a rotational position for receiving light emitted from the light emitter with respect to the pole.

According to the above configuration, even if the AUV enters the charging station with a slight shift, the guide portion in the holding device guides the pole, which is in contact from the advancing direction side of the diving machine main body, to the holding position. A holding part in the holding device holds the pole relatively rotatably. Thus, the AUV can approach the charging station from any direction 360 degrees. In addition, the control device controls the thrust generator by using a simple determination method as to whether or not the light receiver receives the light emitted from the light emitter, and performs alignment between the power reception unit and the power supply unit. Can. For this reason, alignment with the charge station for charging AUV, and AUV can be performed easily.

In the above AUV charging system, the light emitter is a submersible light transmitter that emits light as a light signal, and the light receiver receives a light signal from the submersible light transmitter. A station-side light receiver, wherein the charging station has a station-side light transmitter for emitting light as a light signal, and the AUV receives a light signal from the station-side light transmitter. And a controller, which is an optical signal transmitted from the station-side optical transmitter to the submersible-side optical receiver, comprising: the submersible-side optical transmitter and the station-side optical receiver The thrust generator may be controlled on the basis of an optical signal indicating a communication state between them. According to this configuration, alignment between the power receiving unit and the power feeding unit can be performed using the light transmitter and the light receiver for performing optical communication with each other between the charging station and the AUV. .

In the above charging system for AUV, the thrust generating device generates a thrust for moving the submersible body in the traveling direction and the vertical direction, and the station-side optical transmitter generates an optical signal radially about the pole The AUV has a direction detection device for detecting the arrival direction of the light emitted from the station-side light transmitter, and the control device uses the direction detection device to detect light. The thrust generator may be controlled so that the AUV advances and the guide portion abuts on the pole based on the detected arrival direction. According to this configuration, since the station-side optical transmitter is provided to emit light as an optical signal radially about the pole, the AUV travels toward the light emitted from the station-side optical transmitter. By doing this, the AUV can approach the pole with high accuracy.

The above AUV charging system comprises a floating floating body floating on water, the charging station being suspended in water by a cord extending from the floating floating body, and the pole extending downward from the base Good. According to this configuration, the pole extends downward from the base, and the cable extends from the base side to the water in the opposite direction to the pole. Thus, the cords and the base can be easily connected so as not to interfere with the AUV approaching the pole.

In the above AUV charging system, one of the AUV and the charging station has a locking device, and the other of the AUV and the charging station has a locked portion locked by the locking device. And the AUV is docked to the charging station in a state where the power receiving unit is disposed at a position where power can be supplied from the power feeding unit by the locking device locking the locked portion. It is also good. According to this configuration, the locking device can fix the diving machine main body to the charging station by locking the engaged portion provided in the diving machine main body.

In the charging system for AUV described above, the thrust generating device generates a thrust for moving the diving machine main body, in which the holding device holds the pole, along the pole, and the diving located at the rotational position When the machine body moves along the pole so that the power feeding unit and the power receiving unit approach each other, the locked portion reaches a locking position locked by the locking device. It is also good. According to this configuration, the locking device locks the locked pin provided on the diving machine body, whereby the position of the diving machine body is a rotational position where the light receiver receives the light emitted from the light emitter. It can be fixed to For this reason, even if it receives the flow of water by the influence of a tidal flow etc., a submersible main body can be stopped at the target rotation position, without driving a thrust generator.

In the above charging system for AUV, the locked portion is a locked pin extending upward or downward from the submersible body, and the charging station has the locking device, and the locking device Is moved by the submersible main body along the pole so that the power feeding unit and the power receiving unit approach each other, the locked pin abuts, and the abutted locked pin abuts It may have a guide surface which guides to a position, and a locking part which locks the locked pin guided to the locked position. According to this configuration, even if the AUV moves along the pole in a state where the locked pin is slightly shifted with respect to the locked position, the guide surface absorbs the shift and the locked pin is set to the locked position. In order to guide, the locked pin of the AUV can be accurately guided to the locking position.

In the charging system for AUV described above, the charging station contacts the diving machine body or the guide portion while the diving machine body moves along the pole, and the rotation range of the diving machine body with respect to the pole May have a rotation restricting portion that mechanically restricts. According to this configuration, even if the submersible body receives a flow of water such as tidal current while moving along the pole, the rotation restricting portion mechanically restricts the rotation range of the submersible body with respect to the pole. It is possible to reduce the load on the thrust generator for holding the submersible body at the target rotational position.

In the AUV docking configuration with respect to the above charging station, the charging system for AUV comprises a floating body floating on water, the charging station being suspended in water by a cord extending from the floating body, A pole may extend downwardly from the base and the floating body may have a lifting arrangement to lift the charging station into the air integrally with the docked AUV by pulling the cords. According to this configuration, the AUV can be removed from the water to the floating body or can be introduced from the floating body into the water while being docked to the charging station. Also, since the pole extends downward from the base, the AUV docks to the charging station while being located below the charging station. As a result, the degree of freedom in design of the connection between the base and the cord is increased. For this reason, for example, when the charging station is lifted into the air while being docked to the AUV, it is easy to connect the base and the cord so that unnecessary stress is not applied to each part of the charging station. it can.

In the above charging system for AUV, the charging station may have a thrust generator for maintaining at least one of an attitude in the water and an orientation in the water. According to this configuration, the thrust generator can control at least one of the attitude in the water and the orientation in the water of the charging station.

Further, according to the AUV recovery method of the present invention, there is provided a method of suspending the AUV and a dockable station from the floating floating body floating on the water, and the AUV approaching the station in water. And docking the station, and withdrawing the station with the AUV docked, and then withdrawing the station onto the floating body.

In the AUV unloading method described above, in the step of docking the AUV in the water to the station, the AUV is docked to the station from below the station, and the AUV docked in the station. In the step of withdrawing, the station where the AUV is docked may be lifted into the air while maintaining a posture in the water when docked.

According to the present invention, a charge for AUV, which enables an AUV approach to the charge station from any direction 360 degrees, and which can be easily aligned with the charge station for charging the AUV. System can be provided.

It is a schematic block diagram of the charge system for AUVs concerning a 1st embodiment of the present invention. It is a figure which shows the state which AUV docked to the charging station shown in FIG. It is a side view of AUV shown in FIG. It is a top view of AUV shown in FIG. It is a side view of the charge station shown in FIG. It is a top view of the charging station shown in FIG. It is a front view of the charging station shown in FIG. It is the enlarged plan view which expanded the holding | maintenance apparatus of AUV shown in FIG. It is a figure for demonstrating fixation of the to-be-locked pin of AUV by the latching apparatus of the charging station shown in FIG. It is a top view which shows a mode that AUV approaches a charge station. It is a side view which shows a mode that AUV shown in FIG. 1 rotates centering on a pole in the state holding a pole. It is a schematic block diagram of the charge system of AUV concerning a 2nd embodiment of the present invention. It is a figure which shows the state which AUV docked to the charging station shown in FIG. It is a side view which shows a mode that AUV shown in FIG. 11 rotates centering on a pole in the state holding a pole. It is a schematic diagram for demonstrating the effect | action of a rotation control part when AUV shown in FIG. 11 raises along a pole. It is a side view which shows the state which lifted the charging station which AUV shown in FIG. 12 docked in the air. It is a side view of the charge station concerning modification 1. FIG. It is a side view of the charge station concerning modification 2. FIG.

First Embodiment
Hereinafter, a first embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a schematic configuration diagram of the charging system 1 according to the first embodiment. The charging system 1 is for charging the AUV 10 in water. The charging system 1 includes an AUV 10 and a charging station 40. The AUV 10 has a power receiving unit 11, and the charging station 40 has a power feeding unit 41. In the charging system 1, the underwater AUV 10 approaches the charging station 40 and docks with the charging station 40.

FIG. 2 shows the charging station 40 with the AUV 10 docked. When the AUV 10 docks to the charging station 40, the power receiving unit 11 of the AUV 10 is disposed at a position to which power is supplied from the power feeding unit 41 (see FIG. 1) of the charging station 40. The configurations of the AUV 10 and the charging station 40 will be respectively described below.

(Configuration of AUV)
First, the configuration of the AUV 10 will be described. FIG. 3 is a side view of the AUV 10, and FIG. 4 is a plan view of the AUV 10. In the present specification, for convenience of explanation, with regard to the AUV 10, the advancing direction of the AUV 10 when the AUV 10 approaches the charging station 40 is forward, the opposite direction of the advancing direction is backward, the left with respect to the advancing direction, Upper and lower are defined as left, right, upper and lower, respectively.

The AUV 10 has a submersible main body 12 incorporating a storage battery as a power source. The submersible body 12 has a streamlined shape with less water resistance on the front side. Moreover, as shown in FIG. 3, the above-mentioned power receiving part 11 is provided in the submersible main body 12 lower part. The power receiving unit 11 is a non-contact type power receiving device which receives power from the power feeding unit 41 of the charging station 40 in a non-contact manner. When the AUV 10 is docked to the charging station 40, the power receiving unit 11 is disposed at a position opposite to the power feeding unit 41 so that the power from the power feeding unit 41 is supplied without contact.

Further, the submersible main body 12 is provided with a thrust generating device that generates a thrust for moving the submersible main body 12 in water. The thrust generator includes two main thrusters 13 for moving the submersible body 12 forward, four vertical thrusters 14 for moving the submersible body 12 in the vertical direction, and the submersible body 12 in the left and right direction. Includes two horizontal thrusters 15 for moving to.

Further, a control device 16 for controlling the main thruster 13, the vertical thrusters 14, and the horizontal thrusters 15 is provided in the submersible main body 12. The control device 16 has a storage unit that stores various programs, and an operation unit that executes the programs stored in the storage unit. In the AUV 10, the arithmetic unit executes a predetermined program stored in the storage unit in the control device 16 to autonomously run underwater or to dock the charging station 40.

An acoustic positioning device 21 is provided on the upper portion of the diving machine body 12. The acoustic positioning device 21 constitutes an acoustic positioning system for specifying the distance from the AUV 10 to the charging station 40 and the direction of the charging station 40 with respect to the AUV 10 together with a transponder 44 of the charging station 40 described later. In this acoustic positioning system, for example, the acoustic positioning device 21 calculates the distance to the transponder 44 from the round trip time of the sound wave with respect to the transponder 44, and the reaching acoustic wave to each element in the receiving array of the acoustic positioning device 21 The positioning system of the USBL (Ultra Short Base Line) method or the SSBL (Super Short Base Line) method that calculates the direction of the transponder 44 based on the phase difference of However, the acoustic positioning system may not be the method described above, and may be, for example, a short base line (SBL) method.

Further, a submersible light transmitter 22 (corresponding to the “light emitter” of the present invention) for transmitting light signals downward is provided at the lower rear side of the submersible main body 12. Further, a submersible light receiver 23 for receiving light signals from the front and the bottom of the AUV 10 is provided at the lower front of the submersible body 12.

In the present embodiment, the submersible light receiver 23 also functions as a direction detection device that detects the arrival direction of light emitted from the charging station 40 (more specifically, the station light transmitter 45 described later). . Specifically, the submersible light receiver 23 includes a light receiving array (not shown) having a plurality of light receiving elements which are independent of each other as a light receiving unit. The submersible light receiver 23 detects the arrival direction of the light emitted from the charging station 40 by comparing the light reception intensity of each light receiving element of the light reception array. As will be described later, the controller 16 uses the incoming direction acquired by the submersible light receiver 23 to approach the AUV 10 to the charging station 40.

A holding device 31 is provided at the front end of the diving machine body 12. The holding device 31 abuts and holds the pole 43 of the charging station 40 described later when the AUV 10 docks to the charging station 40. Further, as shown in FIG. 3, the lower part of the diving machine main body 12 is provided with a locking pin 35 (corresponding to the “locking portion” of the present invention) extending downward. The locked pin 35 is locked by the locking device 51 of the charging station 40 described later. Details of the holding of the pole 43 by the holding device 31 and the locking of the locked pin 35 by the locking device 51 will be described later.

(Configuration of charging station)
Next, the configuration of the charging station 40 will be described. FIG. 5 is a side view of the charging station 40, FIG. 6 is a plan view of the charging station 40, and FIG. 7 is a front view of the charging station 40. In the present specification, for convenience of explanation, the front, back, left, right, upper, and lower portions of the AUV 10 in the state where the AUV 10 shown in FIG. , Backward, left, right, upper, and lower.

The charging station 40 has a base 42 located in the water. In the present embodiment, the charging station 40 is a bottom-mounted type, and the base 42 is fixed to the bottom. The base 42 is configured by connecting a plurality of metal bone members, plate members, and the like.

A pole 43 extending upward is provided at the top of the base 42. The pole 43 is the point where the AUV 10 approaches the charging station 40 first abuts when the AUV 10 docks to the charging station 40. In other words, when the AUV 10 docks to the charging station 40, the AUV 10 advances towards the charging station 40 such that the holding device 31 abuts the pole 43.

FIG. 8 shows how the holding device 31 of the AUV 10 holds the pole 43 of the charging station 40. The holding device 31 holds the pole 43 relatively rotatably. In the holding device 31, a holding position P1 for holding the pole 43 is determined in advance. In FIG. 8, the cross section of the pole 43 in the middle of being guided to the holding position P1 and the cross section of the pole 43 guided to the holding position P1 are respectively shown by broken lines.

The holding device 31 holds the pair of guide portions 32a and 32b for guiding the pole 43, which abuts from the traveling direction side of the AUV 10, to the holding position P1 and the pole 43 guided to the holding position P1 relatively rotatably. And a pair of holding claws 33a and 33b (corresponding to the "holding portion" of the present invention).

The distance between the pair of guide portions 32a and 32b gradually increases as it goes from the diving machine main body 12 to the traveling direction side (that is, from the rear side to the front side). Therefore, when the AUV 10 advances in the forward direction with the pole 43 in contact with one of the pair of guide portions 32a and 32b, the pole 43 presses the guide portion 32a or 32b which is in contact with the submersible body While changing the direction of 12, it moves to the holding position P1 along the abutted guide portion 32a or 32b.

The pair of holding claws 33a and 33b are provided on the pair of guide portions 32a and 32b, respectively. The pair of holding claws 33a and 33b presses the pole 43 located at the holding position P1 from the front side of the AUV 10 to prevent the pole 43 from deviating from the holding position P1.

The pair of holding claws 33a and 33b are configured to be able to protrude and retract from the pair of guide portions 32a and 32b to the center side in the left-right direction of the diving machine body 12, respectively. Specifically, the holding claws 33a and 33b move between the exit position of the guide portions 32a and 32b and the retracted position retracted into the guide portions 32a and 32b, respectively. The holding claws 33a, 33b hold the pole 43 in the holding position P1 when they are in the out position. Further, when the holding claws 33a and 33b are in the retracted position, the holding claws 33a and 33b release the state in which the pole 43 is held at the holding position P1.

In the present embodiment, the holding claws 33a and 33b are biased to the ejection position side, and the holding claws 33a and 33b are moved to the sunk position side by being pressed by the pole 43 on the way to the holding position P1. When the pole 43 reaches the holding position P1, it is configured to return to the out position. Further, the holding device 31 includes an actuator (not shown) that moves the holding claws 33a and 33b from the outgoing position to the retracted position by a control signal sent from the control device 16. When the AUV 10 separates from the charging station 40, the control device 16 drives the actuator to move the holding claws 33a and 33b from the outgoing position to the retracted position.

When the horizontal thruster 15 is driven while the holding device 31 holds the pole 43 so that the holding device 31 can relatively rotate the pole 43, the submersible main body 12 rotates about the pole 43.

Returning to FIGS. 5 to 7, at the upper end of the pole 43, a transponder 44 is provided. The transponder 44 receives the sound wave sent from the above-mentioned sound positioning device 21 and sends back the sound wave to the sound positioning device 21. The transponder 44 constitutes an acoustic positioning system for positioning the position of the AUV 10 with respect to the charging station 40 together with the above-mentioned acoustic positioning device 21.

Further, the above-described power feeding portion 41 is provided at a position spaced apart from the pole 43 in the base 42 in the horizontal direction. Specifically, the feeding portion 41 is provided at the upper portion of the base 42 and at a position separated rearwardly from the pole 43. The distance from the holding position P1 in the front-rear direction of the AUV 10 to the power receiving unit 11 and the distance from the pole 43 to the power supply unit 41 in the front-rear direction of the charging station 40 substantially coincide with each other. Therefore, when the AUV 10 is docked to the charging station 40, the power receiving unit 11 and the power feeding unit 41 face each other in the vertical direction.

In addition, the station side optical transmitter 45 is provided on the base 42. The station-side light transmitter 45 is disposed around the lower end of the pole 43 at the top of the base 42. In the present embodiment, the station-side light transmitter 45 radiates light radially to a region above the lower end of the pole 43, as shown by an arrow in FIG. Therefore, even if the AUV 10 approaches the charging station 40 from any direction 360 degrees, the submersible light receiver 23 can receive the light from the station light transmitter 45.

Further, in the state where the AUV 10 is docked to the charging station 40, the submersible light receiver 23 and the station light transmitter 45 are disposed to face each other. Therefore, even after the AUV 10 is docked to the charging station 40, the station-side optical transmitter 45 can transmit an optical signal to the submersible-side optical receiver 23 described above.

In the present embodiment, as described above, the light emitted from the station-side light transmitter 45 is also for the AUV 10 to approach the charging station 40 by the submersible-side light receiver 23 functioning as a direction detection device. It is used.

A station-side light receiver 46 (corresponding to the “light receiver” of the present invention) is provided at a position apart from the pole 43 in the base 42 in the horizontal direction. Specifically, the base 42 is provided at a position lower than the position where the station-side optical transmitter 45 is provided. In addition, the distance from the holding position P1 in the front-rear direction of the AUV 10 to the submersible-side light transmitter 22 and the distance from the pole 43 in the front-rear direction of the charging station 40 to the station-side light receiver 46 substantially coincide. When the AUV 10 is docked to the charging station 40, the station-side optical receiver 46 and the submersible-side optical transmitter 22 face vertically, and the station-side optical receiver 46 receives light from the submersible-side optical transmitter 22. It is possible to receive a signal.

In the present embodiment, in order to align the AUV 10 with respect to the charging station 40 when docking in the charging system 1, the communication state between the station-side optical receiver 46 and the submersible-side optical transmitter 22 is used. That is, the station-side optical receiver 46 can receive the optical signal sent from the submersible-side optical transmitter 22 when the AUV 10 holding the pole 43 is held at a predetermined rotational position with respect to the pole 43 become. Specifically, as shown in FIG. 6, when the submersible optical transmitter 22 enters the angle range α centered on the pole 43 when the charging station 40 is planarly viewed, the station optical receiver 46 The light emitted from the submersible light transmitter 22 can be received.

In the present embodiment, the above-described angular range α is adjusted by limiting the direction of light that can be received by the station-side light receiver 46. Specifically, a cylindrical light shielding unit 47 is erected around the light receiving unit of the station-side light receiver 46. The light shielding unit 47 blocks the light coming from outside the predetermined angle range so as not to enter the light receiving unit of the station side light receiver 46. The angular range α may be adjusted by limiting the angular range of the light emitted from the submersible light transmitter 22.

Further, the base 42 is provided with a rotation restricting portion 48 that mechanically restricts the rotation range of the diving machine main body 12 with respect to the pole 43. The rotation restricting portion 48 extends upward at a position opposite to the position where the feeding portion 41 is disposed with respect to the pole 43 in the base 42, that is, in a position on the front side with respect to the pole 43 in the base 42. The upper end 48 a of the rotation restricting portion 48 is located between the upper end and the lower end of the pole 43 in the vertical direction. Therefore, the rotation restricting portion 48 enters the space between the pair of guide portions 32a and 32b while the submersible body 12 descends along the pole 43 (see FIG. 2). Mechanically restrict the rotation range of.

Further, as shown in FIG. 7, the rotation restricting portion 48 has a pair of spread portions 48 b and 48 c in which the interval gradually widens in the left-right direction of the charging station 40 as it goes downward from the upper end portion 48 a. That is, after the rotation restricting portion 48 enters between the pair of guide portions 32a and 32b while the submersible body 12 descends along the pole 43, the rotation restricting portion 48 has the pair of guide portions 32a and 32b. Spread in the direction of separation. Therefore, as the diving machine main body 12 descends along the pole 43, the rotation range of the diving machine main body 12 relative to the pole 43 gradually narrows.

Further, the base 42 is provided with a locking device 51 for locking the locked pin 35 of the AUV 10 described above to fix the direction of the AUV 10 with respect to the charging station 40. The locking device 51 is disposed at a position horizontally separated from the pole 43 in the base 42. Specifically, as shown in FIG. 5 and FIG. 6, the locking device 51 is provided at the upper part of the base 42 and at a position separated rearwardly from the pole 43. In addition, the distance from the holding position P1 in the front-rear direction of the AUV 10 to the locked pin 35 and the distance from the pole 43 in the front-rear direction of the charging station 40 to the locking device 51 (more specifically, a fitting hole 52 described later) It almost agrees with the distance. The locking of the locked pin 35 by the locking device 51 is performed by lowering the AUV 10 holding the pole 43 with the holding device 31 coming to the predetermined rotational position with respect to the pole 43.

FIG. 9 is a view for explaining locking of the locked pin 35 by the locking device 51. As shown in FIG. The locking device 51 has a fitting hole 52, a guide surface 53, and a pair of locking claws 54a and 54b (corresponding to the "locking portion" of the present invention).

The fitting hole 52 is a hole into which the locked pin 35 is fitted, and is a locking position P2 for locking the locked pin 35. The fitting hole 52 is open at the top, and when the AUV 10 descends, the locked pin 35 is fitted from above.

The guide surface 53 guides the locked pin 35, which has been in contact from above, to the fitting hole 52 when the AUV 10 is lowered. The guide surface 53 is an inclined surface in which the opening gradually spreads upward. When the AUV 10 is lowered with the lower end portion of the locked pin 35 in contact with the guide surface 53, the guide surface 53 presses the locked pin 35 which is in contact, changing the direction of the diving machine main body 12, The locked pin 35 is guided along the guide surface 53 to the locking position P2. Therefore, even if the AUV 10 descends in a state where the fitting hole 52 and the locked pin 35 are slightly deviated in plan view, the locked pin 35 abuts on the guide surface 53 so as to contact the fitting hole 52. Be sure to be guided.

The pair of locking claws 54 a and 54 b lock the locked pin 35 guided to the fitting hole 52. As shown in FIG. 9, the locking pin 35 is provided with a groove 36 into which the pair of locking claws 54a and 54b is fitted. When the pair of locking claws 54 a and 54 b is fitted into the groove portion 36, the locked pin 35 is locked in a state of being fitted into the fitting hole 52.

Specifically, the pair of locking claws 54a and 54b are provided in the wall portion of the fitting hole 52, and are configured to be able to protrude and retract from the wall portion. The pair of locking claws 54 a and 54 b respectively move between a position where the locking claws 54 a and 54 b protrude from the wall of the fitting hole 52 and a retracted position retracted into the wall of the fitting hole 52. The pair of locking claws 54a and 54b lock the locked pins 35 when they move to the out position and fit into the groove portion 36 of the locked pin 35, and when they are in the retracted position, The locked state of the locking pin 35 is released.

In the present embodiment, the locking claws 54a and 54b are biased toward the outlet position, and the locking claws 54a and 54b are pressed by the lower end portion of the locking pin 35 that enters the fitting hole 52. It is configured to move to the retracted position side and to return to the out position when the height of the groove portion 36 of the locked pin 35 and the locking claws 54a and 54b match. Further, the locking device 51 includes an actuator (not shown) that moves the locking claws 54a and 54b from the outgoing position to the retracted position according to a control signal sent from the control device 16. When the AUV 10 separates from the charging station 40, the control device 16 drives the actuator to move the locking claws 54a and 54b from the outgoing position to the retracted position.

Further, as shown in FIG. 6, support portions 55 are disposed on the upper side of the base 42 and on both sides in the left-right direction of the locking device 51. The support portion 55 has a surface that abuts on the lower portion of the AUV 10. The support portion 55 supports the AUV 10 in which the locked pin 35 is locked to the locking device 51 from below.

Further, the base 42 is provided with a main control unit 61 and a feed control unit 62. The main control unit 61 controls communication between the submersible light transmitter 22 and the submersible light receiver 23 of the AUV 10 using the station light transmitter 45 and the station light receiver 46. The feed control unit 62 controls the feeding of power to the power receiving unit 11 by the feeding unit 41 and the stop of the feeding.

(AUV docking to charging station)
Next, the flow until the AUV 10 in the charging system 1 is docked to the charging station 40 will be described with reference to FIGS. 10A and 10B. FIG. 10A is a plan view showing the AUV 10 approaching the charging station 40. FIG. FIG. 10B is a side view showing that the AUV 10 rotates about the pole 43 in a state in which the holding device 31 holds the pole 43. In FIG. 10A, the range where the light emitted from the station-side light transmitter 45 reaches is schematically shown by a two-dot chain line, and in FIG. 10B, the range of the light emitted from the submersible-side light transmitter 22 is two. It is shown schematically by a dotted line.

First, when the AUV 10 is sufficiently away from the charging station 40, the AUV 10 approaches the charging station 40 by the acoustic positioning system. Specifically, the AUV 10 measures the relative position of the AUV 10 to the charging station 40 based on the sound waves sent from the transponder 44 of the charging station 40. The controller 16 of the AUV 10 moves the AUV 10 toward the charging station 40 by controlling the main thruster 13, the vertical thruster 14, and the horizontal thruster 15 based on the obtained position data of the AUV 10.

As shown in FIG. 10A, when the AUV 10 sufficiently approaches the charging station 40 and the submersible light receiver 23 enters a range in which the light emitted from the station light transmitter 45 can be received, the control device 16 Switching from the acoustic positioning approach to the approach using the submersible optical receiver 23 as a direction detection device.

Specifically, the submersible light receiver 23 detects the arrival direction of the light emitted from the station light transmitter 45 by comparing the light reception intensity of each light receiving element of the light reception array. The controller 16 controls the main thruster 13, the vertical thruster 14, and the horizontal thruster 15 based on the direction of arrival of the obtained light so that the holding unit 31 of the AUV 10 abuts on the pole 43 of the charging station 40. , AUV 10 toward the charging station 40.

Thus, when the pole 43 abuts on one of the pair of guide portions 32a and 32b of the holding device 31, as described above, the pole 43 is guided to the holding position P1 along the abutted guide portion 32a or 32b. (See Figure 8). Thereafter, the pair of holding claws 33a and 33b relatively rotatably hold the pole 43 guided to the holding position P1.

Subsequently, as shown in FIG. 10B, the control device 16 controls the AUV 10 in which the holding device 31 holds the pole 43 and the light emitted from the submersible light transmitter 22 by the station-side light receiver 46 with respect to the pole 43. The horizontal thruster 15 is controlled so as to come to a rotational position (angle range α (see FIG. 6)) that receives the

Specifically, on the AUV 10 side, the horizontal thruster 15 is driven to rotate the submersible light transmitter 22 with respect to the pole 43. On the other hand, on the charging station 40 side, the main control unit 61 monitors the reception state of the station-side optical receiver 46 of the optical signal from the submersible-side optical transmitter 22. The main control unit 61 sends a signal indicating the reception state as an optical signal from the station-side optical transmitter 45 to the submersible-side optical receiver 23. Thus, the controller 16 controls the horizontal thruster 15 so that the submersible light transmitter 22 can receive the station light receiver 46.

When the station-side optical receiver 46 comes to a position where it can receive the optical signal from the submersible-side optical transmitter 22, the controller 16 controls the vertical thruster 14 to set the submersible body 12 to the pole 43. Lower along. As described above, the rotation restricting portion 48 is inserted between the pair of guide portions 32a and 32b while the submersible main body 12 descends along the pole 43, whereby the rotation range of the submersible main body 12 with respect to the pole 43 is set. Mechanically regulate. For this reason, the accuracy of rotational positioning of the submersible body 12 with respect to the pole 43 can be further improved.

When the diving machine main body 12 descends and the locked pin 35 abuts on the guide surface 53 of the locking device 51, the locked pin 35 is fitted along the guide surface 53 as described above. You will be guided to (see Figure 9). Thereafter, the pair of locking claws 54 a and 54 b lock the locked pin 35 guided to the fitting hole 52. Thus, docking of the AUV 10 to the charging station 40 is completed. When the AUV 10 is docked to the charging station 40, the power supply unit 41 and the power reception unit 11 face each other in the vertical direction, and power can be supplied from the power supply unit 41 to the power reception unit 11. Further, in the state where the AUV 10 is docked to the charging station 40, the submersible light transmitter 22 and the station light receiver 46 face each other, and the submersible light receiver 23 and the station light transmitter 45 face each other. Thus, the AUV 10 and the charging station 40 can communicate with each other.

As described above, in the charging system 1 of the AUV 10 according to the present embodiment, even if the AUV 10 enters the charging station 40 with a slight shift, the guide portion 32 a or 32 b of the holding device 31 By guiding the pole 43 abutted from the traveling direction side to the holding position P1, the holding claws 33a and 33b in the holding device 31 hold the pole 43 relatively rotatably. Thus, the AUV 10 can approach the charging station 40 from any direction 360 degrees.

Further, in the present embodiment, the control device 16 controls the horizontal thruster 15 using a simple determination method as to whether or not the station side light receiver 46 receives the light emitted from the submersible light transmitter 22, Alignment between the power reception unit 11 and the power supply unit 41 can be performed. Therefore, alignment between the charging station 40 for charging the AUV 10 and the AUV 11 can be easily performed.

Further, in the present embodiment, alignment between the power receiving unit 11 and the power feeding unit 41 is performed using an optical transmitter and an optical receiver for performing optical communication with each other between the charging station 40 and the AUV 10. It can be carried out.

Further, in the present embodiment, the submersible light receiver 23 functions as a direction detection device for detecting the arrival direction of the light radially emitted from the station light transmitter 45, and the control device 16 uses the direction detection device. Based on the detected arrival direction, the horizontal thruster 15 is controlled such that the AUV 10 advances and the guide portion 32 a or 32 b abuts on the pole 43. Therefore, by advancing the AUV 10 toward the light emitted from the station-side light transmitter 45, the AUV 10 can approach the pole accurately.

Further, in the present embodiment, when the locking device 51 locks the locked pin 35 provided on the diving machine main body 12, the position of the diving machine main body 12 is determined by the station-side light receiver 46. It can be fixed at a rotational position for receiving the light emitted from the side light transmitter 22. For this reason, even if it receives the flow of water by the influence of a tidal flow etc., the submersible main body 12 can be stopped at the target rotation position, without driving the horizontal thruster 15.

Further, in the present embodiment, the locking device 51 is a guide for guiding the locking pin 35, which is in contact from the upper side by lowering the AUV 10, to the locking position P2 while the opening gradually widens toward the upper side. It has a surface 53 and locking claws 54a and 54b for locking the locked pin 35 guided to the locking position P2. For this reason, even if the AUV 10 is lowered with the locked pin 35 slightly shifted with respect to the locking position P2, the guide is brought down even if the submersible main body 12 is lowered while the rotational position with respect to the pole 43 is slightly shifted. Since the surface 53 absorbs the displacement and guides the locked pin 35 to the locking position P2, the locked pin 35 of the AUV 10 can be accurately guided to the locking position P2.

Further, in the present embodiment, since the charging station 40 has the rotation restricting portion 48, even if the submersible main body 12 receives a flow of water such as a tidal flow while descending, the rotation restricting portion 48 controls the diving main body 12 to the pole 43. The range of rotation is mechanically restricted. As a result, the load of the horizontal thruster 15 for holding the submersible body 12 at the target rotational position while the submersible body 12 is lowered can be reduced.

Further, in the present embodiment, the rotation restricting portion 48 spreads in the direction in which the pair of guide portions 32a and 32b separate from each other as the rotation restricting portion 48 moves downward from the upper end portion 48a. The rotation range of the submersible body 12 with respect to the pole 43 can be narrowed gradually. Thereby, the locked pin 35 of the AUV 10 can be guided to the locking position P2 with high accuracy.

Second Embodiment
Next, a charging system 1A according to a second embodiment will be described with reference to FIG. 11 to FIG. In the present embodiment, detailed description of the same configuration as that of the first embodiment will be omitted. Further, the definitions of the directions of the AUV 110 and the charging station 140 in the charging system 1A are also the same as in the first embodiment.

FIG. 11 is a schematic configuration diagram of a charging system 1A according to the second embodiment. FIG. 12 is a diagram showing a state where the AUV 110 is docked to the charging station 140 in the charging system 1A. FIG. 13 is a side view showing that the AUV 110 rotates around the pole 143 while holding the pole 143. As shown in FIG. 13, in the charging system 1A of the present embodiment, the charging station 140 is supported by being suspended from the floating object 170 floating on the water, without the base 142 being fixed to the water bottom. Details of the suspension of the charging station 140 will be described later.

Further, in the present embodiment, unlike the first embodiment, the pole 143 extends downward from the base 142. That is, as shown in FIG. 2 and FIG. 3, in the present embodiment, unlike the first embodiment, the AUV 110 is docked to the charging station 140 while being disposed below the charging station 140. More specifically, after holding the pole 143 by the holding device 131, the AUV 110 is docked to the charging station 140 by rising along the pole 143.

Therefore, in the present embodiment, the power reception unit 111 is provided on the upper portion of the submersible main body 112. In addition, the feeding portion 141 is provided at a position below the base 142 and spaced apart from the pole 143 in the horizontal direction (backward). When the AUV 110 is docked to the charging station 140, the power receiving unit 111 and the power feeding unit 141 face each other in the vertical direction.

In addition, a submersible light transmitter 122 (corresponding to the “light emitter” of the present invention) for transmitting an optical signal upward is provided on the upper rear side of the submersible main body 112, and the lower portion of the base 142 is A station-side light receiver 146 (corresponding to the “light receiver” of the present invention) in which the light receiving unit faces downward is provided at a position separated horizontally from the pole 143. When the AUV 110 is docked to the charging station 140, the station-side light receiver 146 and the submersible-side light transmitter 122 face up and down, and the station-side light receiver 146 receives light from the submersible-side light transmitter 122 It is possible to receive a signal.

Further, on the upper portion of the submersible main body 112, a pair of locked pins 135a and 135b (corresponding to the "locked portion" of the present invention) extending upward are provided. The pair of locked pins 135a and 135b are arranged at an upper portion of the diving machine main body 112 at intervals in the front-rear direction. Further, the base 142 is provided with a pair of locking devices 151a and 151b for locking the pair of locked pins 135a and 135b, respectively. Each locked pin 135a, 135b has the same configuration as the locked pin 35 of the first embodiment, and each locking device 151a, 151b is similar to the locking device 51 of the first embodiment. Because of the configuration, detailed description will be omitted.

Furthermore, the AUV 110 has a thrust generator including the main thruster 113 and the horizontal thruster 115, the control device 116, the acoustic positioning device 121, the submersible light transmitter 122, the submersible light receiver 123, and the holding device 131. doing. The submersible light receiver 23 is provided on the lower front side of the submersible main body 112. The charging station 140 further includes a transponder 144, a station-side optical transmitter 145, a station-side optical receiver 146, a main control unit 161, and a power supply control unit 162. The station-side optical transmitter 145 is provided at the lower end of the pole 143. Since these configurations are the same as those of the first embodiment, the description thereof is omitted.

Further, the base 142 is provided with a rotation restricting portion 148 having a configuration different from that of the rotation restricting portion 48 of the first embodiment. The rotation restricting portion 148 mechanically restricts the rotation range of the diving machine main body 112 with respect to the pole 143. The rotation restricting portion 148 is disposed on the same side as the position at which the feeding portion 141 is disposed with respect to the pole 143 in the base 142, that is, at a position on the rear side with respect to the pole 143 in the base 142. The rotation restricting portion 148 has a pair of projecting portions 148 a and 148 b that project downward from the base 142.

FIG. 14 is a schematic view for explaining the operation of the rotation restricting portion 148 when the AUV 110 ascends along the pole 143. In FIG. 14, the rotation restricting portion 148 when the charging station 140 is viewed from the front, and the diving machine main body 112 in a state in which the pole 143 is held by the holding device 131 are schematically shown. Also, in FIG. 14, the pole 143 is shown by a broken line. As shown in FIG. 14, the pair of projecting portions 148 a and 148 b are arranged at intervals in the left-right direction. For this reason, the submersible main body 112 enters the space between the pair of protrusions 148 a and 148 b while rising along the pole 143, whereby the range of rotation of the submersible main body 112 with respect to the pole 143 is restricted.

Further, as shown in FIG. 14, as the lower portions of the pair of projecting portions 148 a and 148 b move downward from the base 142, the distance between the charging stations 140 gradually widens in the left-right direction. The distance between the pair of protrusions 148a and 148b gradually narrows in the left-right direction of the charging station 140 as it goes upward. In the present embodiment, the lower surfaces of the pair of protrusions 148 a and 148 b when the charging station 140 is viewed from the front have a shape that follows the contour of the submersible body 112 when the AUV 110 is viewed from the front. Thus, the rotation restricting portion 148 is configured to gradually narrow the rotation range of the submersible body 112 with respect to the pole 143 as the power feeding portion 141 and the power receiving portion 111 approach each other. The pins 135a and 135b can be guided to the locking positions of the locking devices 151a and 151b with high accuracy.

Further, in the present embodiment, a horizontal wing 163 is provided on the base 142 of the charging station 140. The horizontal wing 163 serves to define the vertical attitude of the charging station 110 which has received the flow of water. In addition, the submersible main body 112 is provided with a plurality of horizontal wings 24 and one vertical wing 25. The horizontal wing 24 serves to define the vertical attitude of the submersible body 112 which has received the flow of water. The vertical wing 25 serves to define the horizontal attitude of the submersible body 112 which has received the flow of water.

As described above, in the charging system 1A of the present embodiment, the charging station 140 is suspended and supported from the floating object 170 floating on water. The charging station 140 is suspended in water by a cord 172 extending from the floating body 170. In the present embodiment, the floating body 170 is a ship traveling on water. The cord 172 is not particularly limited, but in the present embodiment, includes a cable for power transmission to send electricity from the floating body 170 to the charging station 140 and / or a communication cable for communicating with the floating body 170.

As shown in FIG. 11, a portion near the charging station 140 side or end portion of the rope 17 and a plurality of points (four points in this example) on the upper side of the base 142 are connected by a connecting member 173. In the present embodiment, the connecting member 173 is a rod-like body 173a extending in the front-rear direction above the charging station 140, and two string-like bodies extending toward the front upper two points of the base 142 from the front end of the rod-like body 173a. 173b and two string-like bodies 173c extending from the rear end of the rod-like body 173a toward two points on the rear upper side of the base 142. However, the connection between the rope 172 and the base 142 shown here is an example, and the rope 172 may be directly connected to the base 142, for example. Moreover, in the figure, the electric wire etc. which lead to the main control part 161, the electric power feeding control part 162, etc. from the rope 172 are abbreviate | omitted.

In addition, the floating body 170 has a lifting equipment 171 that lifts the charging station 140 into the air integrally with the docked AUV 110 by pulling the rope 172 (for example, winding it up). FIG. 15 is a side view showing a state where the charging station 140 with the AUV 110 docked is lifted in the air. The lifting equipment 171 is, for example, a crane. In the present embodiment, when the AUV 110 docked to each other and the charging station 140 are lifted in the air by the loading equipment 171, the center of gravity of the docked AUV 110 and the charging station 140 extends the cord 172 extending downward from the loading equipment 171. The connection point between the rope 172 and the base 142 by the connection member 173 is adjusted so as to be generally positioned on the line. For this reason, as shown in FIG. 15, even when the AUV 110 and the charging station 140 docked to each other are lifted in the air by the loading equipment 171, the AUV 110 and the charging station 140 have substantially the same posture (pole The position 143 is maintained in a substantially vertically extending direction.

(AUV input and recovery)
Next, a method of charging and recovering the AUV 110 using the charging system 1A in the present embodiment will be described.

First, the flow of injecting the AUV 110 into water will be described. The floating body 170 carrying the AUV 110 and the charging station 140 is anchored above the water to be operated by the AUV 110. Thereafter, using the unloading facility 171, the charging station 140 with the AUV 110 docked is lifted in the air and put into water. When the charging station 140 descends into water and sinks to a predetermined position, the locking devices 151a and 151b release the locking of the locked pins 135a and 135b. Thereafter, the AUV 110 moves along the pole 143 by driving, for example, a vertical thruster such that the locking devices 151a and 151b and the locked pins 135a and 135b are separated from each other. Thereafter, the holding of the pole 143 by the holding device 131 is released. Thus, the docking between the charging station 140 and the AUV 110 is released, and the AUV 110 starts predetermined work in water.

Next, the flow for collecting the AUV 110 in water on the floating body 170 will be described.

The floating body 170 is anchored on the water at the bottom of the water where the AUV 110 is working or above the water. The charging station 140 is suspended in the water from the floating body 170 with a cord 172.

The finished AUV 110 approaches the charging station 140 underwater and docks to the charging station 140. The method for the AUV 110 to approach the charging station 140 in water is the same as that of the first embodiment, so the description is omitted.

Also, in the first embodiment, the AUV 110 docks to the charging station 40 from above the charging station 40 in the first embodiment, while the AUV 110 docks to the charging station 40 in the first embodiment. The difference is that docking to the charging station 140 from below 140 (the reverse direction in which the submersible body 112 moves along the pole 143) is the same except for that.

That is, the horizontal thruster 115 is positioned so that the AUV 110 holding the pole 143 by the holding device 131 receives the light emitted from the substation light transmitter 122 with respect to the pole 143 at the station light receiver 146. Control. Thereafter, when the station-side light receiver 146 comes to a position to receive the light emitted from the submersible light transmitter 122, the submersible body 112 is raised along the pole 143, and thereafter, by the locking devices 151a and 151b, The locked pins 135a and 135b are locked.

When docking of the AUV 110 with the charging station 140 is completed, the charging station 140 transmits a notification signal to the floating object 170 notifying that docking with the AUV 110 is completed. The notification signal may be sent, for example, via a communication line included in the rope 172, or the charging station 140 may include an acoustic communication device for performing acoustic communication with the floating body 170. May be sent by acoustic communication. The completion of the docking may be determined, for example, by providing a sensor that detects the pair of locked pins 135a and 135b at the locking position P1 of the pair of locking devices 151a and 151b. .

After the floating body 170 receives the notification signal, the occupant of the floating body 170 operates the loading equipment 171 to withdraw the charging station 140 in a state where the AUV 110 is docked, and lifts it in the air. In the process of withdrawing the charging station 140, the charging station 140 with the AUV 110 docked is suspended in the air while maintaining its posture in water when docked.

This method is also effective for stations other than the charging station, that is, stations not having a power feeding unit, in that the AUV can be easily recovered to the floating body.

Also in this embodiment, the same effect as that of the first embodiment can be obtained.

Further, in the present embodiment, the pole 143 extends downward from the base 142, and the rope 172 extends from the base 142 side to the water in the opposite direction to the pole 143. For this reason, the rope 172 and the base 142 can be easily connected so as not to disturb the AUV 110 approaching the pole 143.

Furthermore, in the present embodiment, since the floating body 170 has a loading facility 171 that lifts up the rope 172 and lifts the charging station 140 integrally with the docked AUV 110 to the air, the AUV 110 becomes a charging station 140 It can be removed from the water to the floating body in the docked state, or can be thrown into the water from the floating body.

In addition, since the pole 143 extends downward from the base 142, the AUV 110 is designed to be docked to the charging station 140 while being disposed below the charging station 140. Freedom goes up. Therefore, for example, when the charging station 140 is docked to the AUV 110, it is easy to connect the base 142 and the cord 172 so that unnecessary stress is not applied to each part of the charging station 140 when being lifted in the air. be able to.

(Modification 1)
FIG. 16 is a side view of the charging station 140A according to the first modification. In addition to the configuration of the charging station 140 of the second embodiment, the charging station 140A according to the first modification includes a thrust generating device for maintaining at least one of an attitude in the water and an orientation in the water.

In the first modification, the thrust generators provided in the charging station 140A are two horizontal thrusters 181 and 182 that generate thrust in the lateral direction of the charging station 140. Two horizontal thrusters 181 and 182 are provided on the top of the base 142. The two horizontal thrusters 181, 182 are arranged to generate thrust in the left-right direction of the charging station 140A. Two horizontal thrusters 181, 182 are spaced apart in the front-rear direction of the charging station 140A. More specifically, the two horizontal thrusters 181 and 182 are arranged to sandwich the extension line of the rope 172 in the front-rear direction. The two horizontal thrusters 181, 182 are arranged to generate thrust in the lateral direction of the charging station 140A. The two horizontal thrusters 181 and 182 are controlled by the main control unit 161.

For example, when the charging station 140A turns in water while the water floating body 170 is introduced into the water and then descends in the water, the rope 172 is twisted. Two horizontal thrusters 181, 182 are driven, for example, to eliminate any kinks that occur in the rope 172.

Specifically, in the first modification, the base 142 is provided with a measuring device 183 for measuring the direction in which the base 142 pivots about the vertical axis passing through the charging station 140A and the angular displacement amount of the pivot. There is. The measuring device 183 includes, for example, a gyro sensor. For example, the measuring device 183 starts the measurement after inserting the charging station 140A from the floating body 170 into water. The main control section 161 causes the base 142 to pivot in the direction to eliminate the twist of the rope 172 by causing the two horizontal thrusters 181 and 182 to generate thrust in the directions opposite to each other. Specifically, the main control unit 161 drives the two horizontal thrusters 181 and 182 so that the amount of angular displacement measured by the measuring device 183 decreases, and is opposite to the direction measured by the measuring device 183. The base 142 is pivoted in the direction.

Also, for example, when the AUV 110 rotates around the pole 143 while the holding device 131 holds the pole 143, the charging station 140A can rotate integrally with the AUV 110 due to the friction between the pole 143 and the holding device 131. There is sex. Two horizontal thrusters 181, 182 may be driven to prevent the charging station 140A from rotating integrally with the AUV 110.

Specifically, while the AUV 110 holding the pole 143 is rotated by the holding device 131, the main control unit 161 drives the two horizontal thrusters 181 and 182 so as to maintain the orientation of the charging station 140A constant. It is also good. For example, the charging station 140A may include an orientation detection device that detects the orientation of the charging station 140A. For example, the measurement device 183 described above may be used as the orientation detection device. The main control unit 161 drives the two horizontal thrusters 181 and 182 so that the azimuth detected by the azimuth detecting device is maintained constant while the AUV 110 holding the pole 143 is rotated by the holding device 131. Good.

In the first modification, the number and arrangement of the thrust generating devices provided in the charging station 140A are not limited to the above-described configuration. For example, two horizontal thrusters 181 and 182 may be provided on the front and rear of the base 142, or may be provided on both sides in the left-right direction of the base 142. Also, for example, the charging station 140A may include one or more horizontal thrusters as a thrust generator. Also, charging station 140A generates thrust in the front-rear direction or up-down direction of charging station 140A in addition to or instead of one or more horizontal thrusters that generate thrust in the left-right direction of charging station 140A as a thrust generator. It may comprise one or more thrusters. For example, the two horizontal thrusters 181, 182 may be arranged to generate thrust in the front-rear direction of the charging station 140A at intervals in the left-right direction of the charging station 140A.

In addition, as in the first modification described above, the configuration in which the charging station is provided with a thrust generator for maintaining the attitude in water is a system in which the AUV is docked in water at the charging station suspended from the floating body. For example, for any docking system. For example, although the charging system of the present invention performs alignment between the power receiving unit and the power feeding unit with light emitted from the light emitter by the light receiver, it is also effective for systems other than this configuration. .

(Modification 2)
FIG. 17 is a side view of the charging station 200 according to the second modification. The charging station 200 according to the second modification is a bottom-mounted charging station having a configuration different from that of the first embodiment.

Specifically, the charging station 200 includes an upper structure 201 disposed with a space between it and the water bottom, and a plurality of pillars 202 extending in the vertical direction and supporting the upper structure 201 from below. Have. The plurality of columns 202 are connected by a lower structure 203 fixed to the bottom of the water. A space surrounded by the upper structural body 201, the lower structural body 203, and the plurality of pillars 202 is a space in which the AUV 110 passes through between the plurality of pillars 202, and a pole is provided at the center of this space. 143 extend downward from the upper structure 201. A feed portion 141 is provided at a lower portion of the upper structural body 201 and spaced apart from the pole 143 in the horizontal direction (backward). That is, the upper structure body 201 corresponds to the "base" of the present invention, and the charging station 200 is the charging station of the second embodiment except that the upper structure body 201 is not suspended and supported by the floating body. It has the same configuration as 140. In the second modification, since the pole 143 extends downward from the upper structure 201, for example, even when the charging station 200 is installed on a relatively shallow seabed or the like, the pole 143 can be prevented from being hooked by the bottom pulling net or the like.

(Other embodiments)
The above embodiments are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is indicated not by the above description but by the claims, and is intended to include all modifications within the meaning and scope equivalent to the claims.

For example, the shapes of the charging stations 40, 140, 140A, 200 and the AUVs 10, 110 shown in the above embodiment, and the shapes, arrangements, etc. of the components provided in them have meanings and ranges equivalent to the claims. It is intended to include all changes within.

Moreover, in the said 1st Embodiment, although the charging station 40 was a bottom-mounted type, the charging station 40 does not need to be installed in the bottom of a water. For example, the charging station 40 may be suspended and supported on the floating body by connecting a rope hanging from the floating body and the upper end of the pole 43. Further, in the second embodiment, the charging station 140 is suspended from the floating floating body that travels on the water, but the floating floating body that suspends and supports the charging station 140 is a floating body such as a buoy or the like. It may be a structure on water or in water. For example, the charging station of the present invention may be fixed relative to the underwater structure.

In the above-described embodiment, the AUV 10 includes the main thruster 13, the vertical thruster 14 and the horizontal thruster 15 as a thrust generator for moving the submersible body 12. For example, the AUV 10 may Instead of part or all, a thruster may have a swing type thruster capable of changing the direction in which the thrust is generated.

Moreover, in the said embodiment, although the non-contact electric power feeding system which electrically feeds without the electric power feeding part 41,141 and the power receiving part 11,111 contacting was employ | adopted, it is not restricted to this, The electric power feeding part 41,141 and the power receiving part 11 , 111 may be in contact with each other to supply power. In addition, after the holding devices 31 and 131 hold the poles 43 and 143, when the AUVs 10 and 110 come to predetermined rotational positions with respect to the poles 43 and 143, the power feeding units 41 and 141 and the power receiving units 11 and 111 sufficiently In the case where they are close to each other, power may be supplied from the power feeding unit 41 or 141 to the power receiving unit 11 or 111 without moving the AUV 10 or 110 along the pole 43 or 143.

Also, alignment between the power receiving unit 11, 111 and the power feeding unit 41, 141 is performed depending on whether the station side light receivers 46, 146 receive the light emitted from the submersible light transmitters 22, 122 or not. However, the submersible optical transmitters 22 and 122 may be simple light emitters that do not transmit signals, and the station side optical receivers 46 and 146 may be simple light receivers that do not receive signals. Good. Even in this case, alignment can be performed between the power receiving units 11 and 111 and the power feeding units 41 and 141 depending on whether the light receiver on the charging station side receives light emitted from the light emitter on the AUV side or not. .

Also, instead of light receivers, light transmitters or light emitters may be provided at the station side light receivers 46 and 146, and light transmitters may be provided at the submersible light transmitters 22 and 122 instead of light transmitters. , An optical receiver or an optical receiver may be provided.

Further, the direction detecting device for detecting the incoming direction of the light from the charging station 40, 140 may not be the submersible light receiver 23, 123. For example, the AUV may have an imaging device, and the control device 16, 116 determines the position of the light source (station-side light transmitter 45, 145) from the image captured by the imaging device 40. , 140 may be detected.

In addition, when the rotational alignment of the AUVs 10 and 110 with respect to the poles 43 and 143 can be performed with sufficient accuracy only by the alignment by the station side light receivers 46 and 146 and the submersible light transmitters 22 and 122, the rotation is performed. One or both of the restricting portions 48 and 148 and the guide surfaces 53 of the locking devices 51 and 151 may not be provided on the bases 42 and 142.

In the above embodiment, the charging station has the locking device and the AUV has the locked portion locked by the locking device. However, the AUV has the locking device, and the charging station has the locking device. You may have the to-be-locked part latched by the latching apparatus. In the above embodiment, the locked portion is a locked pin extending from the submersible body 12 and the locking device has a hole into which the locked pin is fitted. The configuration of the locking device is not limited to this. For example, the locked portions may be holes respectively formed on the left and right sides of the submersible body, and the charging station may have a locking device provided with hooks engageable with these holes.

1, 1A: charging system 10, 110: AUV
11, 111: power receiving unit 12, 112: submersible body 14: vertical thruster 15, 115: horizontal thruster 16, 116: control device 22, 122: submersible light transmitter (light emitter)
23, 123: Submersible light receiver 31, 131: Holding device 32a, 32b: Guide portion 33a, 33b: Holding claw 35, 135a, 135b: Locked pin (locked portion)
40, 140, 140A, 200: charging station 41, 141: power feeding unit 42, 142: base 43, 143: pole 45, 145: station side optical transmitter 46, 146: station side optical receiver (light receiver)
48, 148: Rotation restricting portion 51, 151a, 151b: Locking device 52: Fitting hole 53: Guide surface 54a, 54b: Locking claw 61, 161: Main control portion 62, 162: Power supply control portion 170: Floating on water 171: Lifting equipment 172: Cable 173: Connection member 181, 182: Horizontal thruster P1: Holding position P2: Locking position

Claims (12)

1. A base located in the water,
   A pole provided on the base and extending in the vertical direction;
   A charging station having a feeding portion provided at a position horizontally separated from the pole in the base;
   With the diving machine body,
   A power receiving unit provided in the diving machine main body and supplied with power from the power feeding unit;
   The distance between the main body and the submersible body extends from the submersible main body toward the advancing direction side, and a pair of guide portions for guiding the pole in contact from the advancing direction side to the holding position and the pole guided to the holding position A holding device having a holding portion that holds the relative rotation rotatably,
   A thrust generating device that generates a thrust in at least a horizontal direction that rotates the diving machine main body in which the holding device holds the pole about the pole;
   An autonomous unmanned underwater vehicle having a control device for controlling the thrust generating device;
   One of a light emitter and a light receiver is provided at a position on the base horizontally spaced from the pole,
   The other of the light emitter and the light receiver is provided at a position horizontally separated from the holding position in the diving machine main body,
   The control device is configured to generate the thrust generating device such that the submersible main body in which the holding device holds the pole is at a rotational position to receive light emitted from the light emitter with respect to the pole A charging system for autonomous unmanned underwater vehicles that controls
2. The light emitter is a submersible light transmitter that emits light as a light signal,
   The light receiver is a station-side light receiver that receives a light signal from the submersible light transmitter.
   The charging station has a station-side light transmitter that emits light as a light signal,
   The charging system for an autonomous unmanned underwater vehicle according to claim 1, wherein the autonomous unmanned underwater vehicle includes an underwater light receiver that receives an optical signal from the station-side optical transmitter.
3. The thrust generator generates a thrust that moves the diving machine main body in the traveling direction and the vertical direction.
   The station-side optical transmitter is provided to emit light as an optical signal radially about the pole,
   The autonomous unmanned underwater vehicle has a direction detection device for detecting an arrival direction of light emitted from the station-side light transmitter.
   The said control apparatus controls the said thrust generator so that the said autonomic-type unmanned underwater vehicle advances and the said guide part contact | abuts to the pole based on the arrival direction detected by the said direction detection apparatus. A charging system for an autonomous unmanned underwater vehicle according to claim 2.
4. Equipped with a floating body floating on the water,
   The charging station is suspended in water by a cord extending from the floating body,
   The charging system for an autonomous unmanned underwater vehicle according to any one of claims 1 to 3, wherein the pole extends downward from the base.
5. One of the autonomous unmanned underwater vehicle and the charging station has a locking device,
   The other of the autonomous unmanned underwater vehicle and the charging station has a locked portion locked by the locking device,
   The autonomous type unmanned underwater vehicle is docked to the charging station in a state where the power receiving unit is disposed at a position where power can be supplied from the power feeding unit by the locking device locking the locked portion. The charging system for an autonomous unmanned underwater vehicle according to any one of claims 1 to 3.
6. The thrust generator generates a thrust for moving the diving machine main body, in which the holding device holds the pole, along the pole.
   The to-be-locked portion is locked by the locking device as the submersible main body located at the rotational position moves along the pole such that the power feeding portion and the power receiving portion approach each other. The charging system for an autonomous unmanned underwater vehicle according to claim 5, wherein the charging system is disposed in a locked position.
7. The locked portion is a locked pin extending upward or downward from the diving machine body,
   The charging station comprises the locking device;
   The locking device is in contact with the locked pin by moving the submersible main body along the pole such that the power feeding unit and the power receiving unit approach each other, and the locked pin is in contact The charging device for an autonomous unmanned underwater vehicle according to claim 6, further comprising: a guide surface for guiding the locking position to the locking position; and a locking portion for locking the locked pin guided to the locking position. system.
8. The charge station contacts the diving machine body or the guide portion while the diving machine body moves along the pole, and restricts the rotation range of the diving machine body with respect to the pole mechanically. The charging system for an autonomous unmanned underwater vehicle according to claim 6 or 7, comprising:
9. Equipped with a floating body floating on the water,
   The charging station is suspended in water by a cord extending from the floating body,
   The pole extends downwardly from the base,
   The floating floating body according to any one of claims 5 to 8, wherein the floating body has a loading and unloading facility for lifting the charging station into the air integrally with the docked autonomous unmanned underwater vehicle by pulling the cord. Charging system for autonomous unmanned underwater vehicles.
10. The charging system for an autonomous unmanned underwater vehicle according to any one of claims 1 to 9, wherein the charging station has a thrust generator for maintaining at least one of an attitude in the water and an attitude in the water. .
11. Suspending the autonomous unmanned underwater vehicle and the dockable station from the floating body floating on the water;
    The autonomous unmanned underwater vehicle approaching the station underwater and docking at the station;
    And a step of withdrawing the station in a state in which the autonomous type unmanned submersible unit is docked and being recovered on the water floating body.
12. In the step of the autonomous unmanned underwater vehicle being docked in the water in the water, the autonomous unmanned underwater vehicle is docked with the station from below the station,
    In the step of withdrawing the station in a state in which the autonomous type unmanned submersible is docked, the station in a state in which the autonomous unmanned submersible is docked is suspended in the air while maintaining a posture in water when docked. A method of recovering an autonomous unmanned underwater vehicle according to item 11.

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